EP3184327A1 - Luftloser reifen - Google Patents

Luftloser reifen Download PDF

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Publication number
EP3184327A1
EP3184327A1 EP16203425.0A EP16203425A EP3184327A1 EP 3184327 A1 EP3184327 A1 EP 3184327A1 EP 16203425 A EP16203425 A EP 16203425A EP 3184327 A1 EP3184327 A1 EP 3184327A1
Authority
EP
European Patent Office
Prior art keywords
pneumatic tire
shear band
reinforcement structure
previous
bead
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP16203425.0A
Other languages
English (en)
French (fr)
Inventor
James Alfred Benzing Ii
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Goodyear Tire and Rubber Co
Original Assignee
Goodyear Tire and Rubber Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Goodyear Tire and Rubber Co filed Critical Goodyear Tire and Rubber Co
Publication of EP3184327A1 publication Critical patent/EP3184327A1/de
Withdrawn legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60CVEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C7/00Non-inflatable or solid tyres
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60CVEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C7/00Non-inflatable or solid tyres
    • B60C7/10Non-inflatable or solid tyres characterised by means for increasing resiliency
    • B60C7/14Non-inflatable or solid tyres characterised by means for increasing resiliency using springs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60CVEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C7/00Non-inflatable or solid tyres
    • B60C7/10Non-inflatable or solid tyres characterised by means for increasing resiliency
    • B60C7/14Non-inflatable or solid tyres characterised by means for increasing resiliency using springs
    • B60C7/146Non-inflatable or solid tyres characterised by means for increasing resiliency using springs extending substantially radially, e.g. like spokes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60CVEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C7/00Non-inflatable or solid tyres
    • B60C7/22Non-inflatable or solid tyres having inlays other than for increasing resiliency, e.g. for armouring
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60CVEHICLE TYRES; TYRE INFLATION; TYRE CHANGING; CONNECTING VALVES TO INFLATABLE ELASTIC BODIES IN GENERAL; DEVICES OR ARRANGEMENTS RELATED TO TYRES
    • B60C9/00Reinforcements or ply arrangement of pneumatic tyres
    • B60C9/02Carcasses

Definitions

  • the present invention relates generally to vehicle tires and more particularly to a non-pneumatic tire.
  • the pneumatic tire has been the solution of choice for vehicular mobility for over a century.
  • the pneumatic tire is a tensile structure.
  • the pneumatic tire has at least four characteristics that make the pneumatic tire so dominate today.
  • Pneumatic tires are efficient at carrying loads, because all of the tire structure is involved in carrying the load.
  • Pneumatic tires are also desirable because they have low contact pressure, resulting in lower wear on roads due to the distribution of the load of the vehicle.
  • Pneumatic tires also have low stiffness, which ensures a comfortable ride in a vehicle.
  • the primary drawback to a pneumatic tire is that it requires compressed fluid.
  • a conventional pneumatic tire is rendered useless after a complete loss of inflation pressure.
  • a tire designed to operate without inflation pressure may eliminate many of the problems and compromises associated with a pneumatic tire. Neither pressure maintenance nor pressure monitoring is required. Structurally supported tires such as solid tires or other elastomeric structures to date have not provided the levels of performance required from a conventional pneumatic tire. A structurally supported tire solution that delivers pneumatic tire-like performance would be a desirous improvement.
  • Non-pneumatic tires are typically defined by their load carrying efficiency.
  • Bottom loaders are essentially rigid structures that carry a majority of the load in the portion of the structure below the hub.
  • Top loaders are designed so that all of the structure is involved in carrying the load. Top loaders thus have a higher load carrying efficiency than bottom loaders, allowing a design that has less mass.
  • the invention relates to a tire in accordance with claim 1.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the reinforcement structure is a layer of ply.
  • One or more embodiments of the present invention provides a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the reinforcement structure is a plurality of strips of material.
  • One or more embodiments of the present invention provides a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the reinforcement structure is a plurality of strips of material, and wherein the strips are reinforced with one or more parallel reinforcements.
  • One or more embodiments of the present invention provides a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the reinforcement structure is angled inwardly.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the strips are oriented in the radial direction forming ply spokes.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the non-pneumatic tire is mounted on a standard rim.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the non-pneumatic tire is mounted on a rim, wherein the rim is axially adjustable.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the reinforcement structure is a plurality of strips of material, wherein the strips are reinforced with one or more parallel reinforcements, and wherein the angle alpha is in the range of -20 to +20 degrees.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located between the shear band and a second end secured to a bead.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the reinforcement structure is a layer of ply.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the reinforcement structure is a plurality of strips of material.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the reinforcement structure is a plurality of strips of material, and wherein the strips are reinforced with one or more parallel reinforcements.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the reinforcement structure is angled inwardly.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located radially outward of the shear band and a second end secured to a bead, wherein the reinforcement structure is a plurality of strips of material, and wherein the strips are oriented in the radial direction forming ply spokes.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure having a first end located between the shear band and a second end secured to a bead, wherein the non-pneumatic tire is mounted on a standard rim.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure formed of a plurality of strips, each of said strip having a first end, a body, and a second end, wherein the first end extends radially inward of the tread, and said body is looped about a bead, and the second end is located adjacent the first end.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure formed of a plurality of strips, each of said strip having a first end, a body, and a second end, wherein the first end extends radially inward of the tread, and said body is looped about a bead, and the second end is located adjacent the first end, and wherein the first and second ends are positioned between the tread and the shear band.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure formed of a plurality of strips, each of said strip having a first end, a body, and a second end, wherein the first end extends radially inward of the tread, and said body is looped about a bead, and the second end is located adjacent the first end, and wherein the first and second ends are positioned between a first and second reinforcement layer of the shear band.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure formed of a plurality of strips, each of said strip having a first end, a body, and a second end, wherein the first end extends radially inward of the tread, and said body is looped about a bead, and the second end is located adjacent the first end, and wherein the first and second ends of the right side overlap with a first and second end of the left side.
  • One or more embodiments of the present invention provide a non-pneumatic tire comprising a ground contacting annular tread portion, a shear band, and a reinforcement structure positioned radially inward of the tread, said reinforcement structure formed of a plurality of strips, each of said strip having a first end, a body, and a second end, wherein the first end extends radially inward of the tread, and said body is looped about a bead, and the second end is located adjacent the first end, and wherein the first and second ends extend across the full axial width of the shear band.
  • Equatorial Plane means a plane perpendicular to the axis of rotation of the tire passing through the centerline of the tire.
  • “Meridian Plane” means a plane parallel to the axis of rotation of the tire and extending radially outward from said axis.
  • Hysteresis means the dynamic loss tangent measured at 10 percent dynamic shear strain and at 25°C.
  • a non-pneumatic tire 100 of the present invention is shown in the enclosed Figures.
  • the non-pneumatic tire of the present invention includes a radially outer ground engaging tread 200, a shear band 300, and one or more reinforcement layer 400.
  • the non-pneumatic tire of the present invention is designed to be a top loaded structure, so that the shear band 300 and the reinforcement layer 400 efficiently carries the load.
  • the shear band 300 and the reinforcement layer 400 are designed so that the stiffness of the shear band is directly related to the spring rate of the tire.
  • the reinforcement layer is designed to be a stiff structure that buckles or deforms in the tire footprint and does not compress or carry a compressive load. This allows the rest of structure not in the footprint area the ability to carry the load, resulting in a very load efficient structure.
  • the approximate load distribution is such that approximately 95-100% of the load is carried by the shear band and the upper radial portion of the reinforcement layer 400, so that the lower portion of the reinforcement structure undergoing compression carries virtually zero of the load, and preferably less than 10%.
  • the tread portion 200 may be a conventional tread as desired, and may include grooves or a plurality of longitudinally oriented tread grooves forming essentially longitudinal tread ribs there between. Ribs may be further divided transversely or longitudinally to form a tread pattern adapted to the usage requirements of the particular vehicle application. Tread grooves may have any depth consistent with the intended use of the tire.
  • the tire tread 200 may include elements such as ribs, blocks, lugs, grooves, and sipes as desired to improve the performance of the tire in various conditions.
  • the shear band 300 is preferably annular. A cross-sectional view of the shear band is shown in Figure 4 .
  • the shear band 300 is located radially inward of the tire tread 200.
  • the shear band 300 includes a first and second reinforced elastomer layer 310, 320.
  • the shear band is comprised of two inextensible reinforcement layers 310,320 arranged in parallel, and separated by a shear matrix 330 of elastomer.
  • Each inextensible layer 310, 320 may be formed of parallel, preferably inextensible reinforcement cords 311, 321 embedded in an elastomeric coating.
  • the reinforcement cords 311, 321 may be steel, aramid, nylon, polyester or other inextensible structure or material.
  • the shear band 300 may further optionally include a third reinforced elastomer layer (not shown) located between the first and second reinforced elastomer layers 310, 320.
  • outer lateral ends 302, 304 of the shear band be radiused in order to control the buckled shape of the sidewall and to reduce flexural stresses.
  • the reinforcement cords are oriented at an angle ⁇ in the range of 0 to about +/- 10 degrees relative to the tire equatorial plane.
  • the reinforcement cords are oriented at an angle ⁇ in the range of 0 to about +/- 10 degrees relative to the tire equatorial plane.
  • the angle ⁇ of the first layer is in the opposite direction of the angle ⁇ of the reinforcement cords in the second layer. That is, an angle + ⁇ in the first reinforced elastomeric layer and an angle - ⁇ in the second reinforced elastomeric layer.
  • the shear matrix 330 has a radial thickness in the range of 2.54 mm to 5.04 mm, more preferably 3.7 mm.
  • the shear matrix is preferably formed of an elastomer material having a shear modulus G m in the range of from 15 to 80 MPa, and more preferably in the range of from 40 to 60 MPA.
  • the shear band has a shear stiffness GA.
  • the shear stiffness GA is determined by measuring the deflection on a representative test specimen taken from the shear band. The upper surface of the test specimen is subjected to a lateral force F as shown below.
  • the test specimen is a representative sample taken from the shear matrix material, having the same radial thickness.
  • the shear band has a bending stiffness EI.
  • the bending stiffness EI is determined from beam mechanics using the three point bending test subjected to a test specimen representative of the shear band. It represents the case of a beam resting on two roller supports and subjected to a concentrated load applied in the middle of the beam.
  • EA is the extensible stiffness of the shear band, and it is determined experimentally by applying a tensile force and measuring the change in length.
  • the ratio of the EA to EI of the shearband is acceptable in the range of 0.02 to 100 with a preferred range of 1 to 50.
  • the shear band 300 preferably can withstand a maximum shear strain in the range of 15-30%.
  • the shear band 300 has a spring rate k that may be determined experimentally by exerting a downward force on a horizontal plate at the top of the shear band and measuring the amount of deflection as shown in Figure 11 a.
  • the spring rate k is determined from the slope of the Force versus deflection curve, as shown in Figure 11 b.
  • the non-pneumatic tire has an overall spring rate k t that is determined experimentally.
  • the non-pneumatic tire is mounted upon a rim, and a load is applied to the center of the tire through the rim.
  • the spring rate kt is determined from the slope of the Force versus deflection curve.
  • the spring rate kt is preferably in the range of 500 to 1000 for small low speed vehicles such as lawn mowers.
  • the invention is not limited to the shear band structure disclosed herein and may comprise any structure which has a GA/EI in the range of 0.01 to 20, or a EA/EI ratio in the range of 0.02 to 100, or a spring rate kt in the range of 500 to 1000, as well as any combinations thereof. More preferably, the shear band has a GA/EI ratio of 0.01 to 5, or an EA/EI ratio of 1 to 50 and any subcombinations thereof.
  • the tire tread is preferably wrapped about the shear band and is preferably integrally molded to the shear band.
  • a first embodiment of the non-pneumatic tire of the present invention is shown in Figure 1-4 .
  • the reinforcement structure 400 functions to carry the load transmitted from the shear layer.
  • the reinforcement structure 400 is primarily loaded in tension and shear, and carries no load in compression.
  • the reinforcement structure is formed of a plurality of strips oriented in the radial direction. The strips may overlap.
  • the reinforcement strips may comprise any fabric or flexible structure such as nylon, polyester, cotton, rubber.
  • the reinforcement strips comprise a reinforced rubber or ply strip formed of parallel reinforcements that are preferably nylon, polyester or aramid.
  • the reinforcement strips are preferably 3.3 mm to 12.7 mm, more preferably 5 to 8 mm, wide.
  • each reinforcement strip has a first end 402a, 400b that is located radially outward of the shear band 300 and axially inward of the lateral edges 302, 304 of the shear band.
  • the first ends 402a, 402b may extend completely across the crown or not.
  • the reinforcement strip extends radially inward and wraps about a bead 430, terminating in a terminal end 405a, 405b.
  • the bead 430 is an annular inextensible member, and made of conventional wire fabrics.
  • the bead 430 is smaller than a bead used in a pneumatic tire for the same size. Thus the non-pneumatic tire is secured to a conventional tire rim known to those skilled in the art by a bead.
  • the reinforced strips are oriented in the radial direction. It is preferred that tire ply be used as the reinforcement material for several reasons. First, tire ply is an ideal connecting structure for the non-pneumatic tire application because it is thin, and has a low bending stiffness with no resistance to compression or buckling. Tire ply has a high tensile stiffness and strength which is needed in the non-pneumatic tire application. Tire ply is also cheap, has a known durability, and is readily available.
  • the reinforcement layer is preferably oriented so that it makes an angle alpha with respect to the radial direction.
  • the angle alpha can help pretension the reinforcement 400 and also increase and tune the lateral stiffness of the tire. This results in a non-pneumatic tire having angled sidewalls.
  • the angle alpha is measured with respect to the radial direction, and may be +/- 40 degrees, and more preferably, +/- 20 degrees.
  • the angle alpha can be tuned as desired using an axial adjustment feature of the rim 502.
  • the rim 502 may be axially adjusted to narrow or expand the axial rim width. This axial adjustment controls the ply tension, allowing the tire lateral stiffness to be adjusted independent of the radial stiffness.
  • the rim may be adjusted by a tensioning member or bolt 504 that is mounted in the opposed rim parallel walls 506, 508.
  • Figure 5 illustrates an alternate embodiment of the ply spokes.
  • the reinforcement layer is formed by looping 615 a plurality of strips about a respective bead 430, so that the first end 600 and the second end 610 are located adjacent each other.
  • the first and second ends 600, 610 are preferably located radially outward of the shear band or formed in the shear band.
  • the strips are thus looped about the bead, forming a first sidewall.
  • a plurality of strips are looped about a bead 430 on the other side of the tire to form a second sidewall.
  • a first end 700 of a reinforced strip is looped around a bead 430 and then extended radially outward so that the second end 710 is mounted over the shear band and adjacent the first end 700.
  • the first and second ends 600,610 of the first strip mounted on the right side of the tire may extend axially across the shear band to the left side 302 of the shear band.
  • the first and second ends 700,710 mounted on the left side of the tire may also likewise extend axially across the shear band to the right side 304 of the shear band.
  • the ends 700 may overlap with the strip ends 600.
  • the ends 700 may overlap with the strip ends 600 in an alternating fashion.
  • the reinforced ply strip may be continuously wound from one side of the tire to the other, forming a plurality of radial ply spokes as shown in Fig 6 .
  • the reinforced strips are located radially outward of the shear band 300.
  • the reinforced strip is wound about a first bead, in a continuous manner to the other bead and so forth, forming an endless ply.
  • the ply spokes or strip are preloaded in tension.
  • the reinforcement structure 400 need not be positioned radially outward of the shear band.
  • the reinforcement structure may be positioned radially inward and underneath the shear band (not shown).
  • first ends 402a, 402b of the reinforced strips 400 may be positioned between the reinforcement layers of the shear band, as shown in Figure 7 .
  • the reinforced strips 400 may extend completely across the shear band in the axial direction as shown in Figure 8 .
  • a layer of ply 800 as shown in Fig 9 may be used to form any of the constructions described herein.
  • the invention may be utilized with a conventional tire rim, the invention may also be used with a conventional tire rim split in half as shown in Fig 10 , which may provide for axial adjustment between the rims.
EP16203425.0A 2015-12-22 2016-12-12 Luftloser reifen Withdrawn EP3184327A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US201562270856P 2015-12-22 2015-12-22

Publications (1)

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EP3184327A1 true EP3184327A1 (de) 2017-06-28

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EP16203425.0A Withdrawn EP3184327A1 (de) 2015-12-22 2016-12-12 Luftloser reifen

Country Status (5)

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US (2) US10414209B2 (de)
EP (1) EP3184327A1 (de)
JP (1) JP6929054B2 (de)
KR (1) KR20170074810A (de)
CN (1) CN107097591A (de)

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WO2014201368A1 (en) 2013-06-15 2014-12-18 Ronald Thompson Annular ring and non-pneumatic tire
WO2016126983A1 (en) 2015-02-04 2016-08-11 Advancing Mobility, Llc. Non-pneumatic tire and other annular devices
CN110039958A (zh) * 2019-05-24 2019-07-23 厦门正新橡胶工业有限公司 一种免充气轮胎
EP4034391A4 (de) * 2019-09-24 2023-10-18 Bridgestone Americas Tire Operations, LLC Luftloser reifen mit einer schlingenförmigen stützstruktur und verfahren zur herstellung desselben
EP3871902B1 (de) 2020-02-28 2023-07-19 The Goodyear Tire & Rubber Company Luftloser reifen
WO2022032217A1 (en) * 2020-08-07 2022-02-10 Brax Matthew J Hybrid tires
EP4200140A1 (de) 2020-08-18 2023-06-28 Bridgestone Americas Tire Operations, LLC Reifenlauffläche mit einer gürtellage
CN112477523B (zh) * 2020-12-11 2022-09-13 芜湖集拓实心胎有限公司 一种支架搬运车用实心轮胎
US20220185016A1 (en) * 2020-12-16 2022-06-16 The Goodyear Tire & Rubber Company Non-pneumatic tire
CN113291092B (zh) * 2021-06-09 2021-12-24 季华实验室 非充气轮胎

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WO2002083435A1 (en) * 2001-04-16 2002-10-24 Societe De Technologie Michelin Structurally supported resilient tire with bias ply carcass
FR2844479A1 (fr) * 2002-09-12 2004-03-19 Jean Gergele Roue de vehicule
FR2856635A1 (fr) * 2002-09-12 2004-12-31 Jean Gergele Roue de vehicule

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US20170174004A1 (en) 2017-06-22
US20190329592A1 (en) 2019-10-31
JP6929054B2 (ja) 2021-09-01
CN107097591A (zh) 2017-08-29
JP2017114482A (ja) 2017-06-29
KR20170074810A (ko) 2017-06-30
US10414209B2 (en) 2019-09-17

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